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This paper presents output feedback control for longitudinal dynamics of fixed-wing aircraft using singular perturbation techniques. The longitudinal dynamic model is separated into two timescales. A composite feedback control law based on sliding mode control (SMC) is designed for slow and fast subsystems to track the aerodynamic velocity and flight path angle references. Additionally, two separate high-gain observers (HGO) are designed for the slow and fast subsystems to estimate system states. The proposed technique not only simplifies the design but also is computationally efficient. Simulations are performed in MATLAB/Simulink environment with results demonstrating that the proposed output feedback control method robustly achieves trajectory tracking.

The plants Cassia fistula and Terminalia arjuna are medicinally important and produce leaves and colourful blossoms that belong to the Caesalpinioideae of the legume family and the family of Combretaceae. The antioxidant, hydrogen peroxide, and phytochemical assessment (qualitative and quantitative) of methanolic and ethanolic extracts of Cassia fistula and Terminalia arjuna flowers and leaves were investigated in this work. In qualitative phytochemical evaluation, the presence of ten different chemicals of varying degrees and classes was observed, and alkaloids, steroids, tannis, glycosides, saponins, flavonoids, and terpinoids were confirmed during qualitative screening. During quantitative analysis, the Cassia fistula L. leaves showed the highest TFC (32.783A ± 0.073) and the TPC was observed highest in Terminalia arjuna flowers (42.800A ± 0.028). The highest DPPH percentage was recorded in C. fistula flowers (21.825A ± 0.069) compared to its lowest value observed in C. fistula leaves (10.660B ± 0.053). The highest hydrogen peroxide (H2O2) scavenging activity among both plants was found in C. fistula (12.526A ± 0.146) and the lowest in its leaves (7.1470B ± 0.045). The methanolic extracts showed promising antioxidant activity. The presence of bioactive components in the leaves and flowers of Terminalia arjuna and Cassia fistula suggests that these flowers and leaves might be used as a phytochemical source and are also effective and safe as natural remedies. The biochemical analysis proved that the extracts of Cassia fistula and Terminalia arjuna plants have glycosides, flavonoids, and alkaloids that play a role in antioxidant activity.

Purpose The purpose of this study is to provide the full-state mathematical model and devise a nonlinear controller for a balloon-supported unmanned aerial vehicle (BUAV). Design/methodology/approach Newtonian mechanics is used to establish the nonlinear mathematical model of the proposed vehicle assembly which incorporates the dynamics of both balloon and quadrotor UAV. A controllable form of the nine degrees of freedom model is derived. Backstepping control is designed for the proposed model and simulations are performed to assess the tracking performance of the proposed control. Findings The results show that the proposed methodology works well for smooth trajectories in presence of wind gusts. Moreover, the final mathematical model is affine and various nonlinear control techniques can be used in the future for improved system performance. Originality/value Multi-rotor unmanned aerial vehicles (MUAVs) are equipped with controllers but are constrained by smaller flight endurance and payload carrying capability. On the contrary, lighter than air (LTA) aerial vehicles have longer flight times but have poor control performance for outdoor operations. One of the solutions to achieve better flight endurance and payload carrying capability is to augment the LTA balloon to MUAV. The novelty of this research lies in full-order mathematical modeling along with transformation to controllable form for the BUAV assembly.

Purpose The aim of this paper is to design a nonlinear disturbance observer-based control (DOBC) method obtained by patching a control method developed using a robust adaptive technique and a DO. Design/methodology/approach For designing a DOBC, initially a class of nonlinear system is considered with an external disturbance. First, a DO is designed to estimate the external disturbances. This estimate is combined with the controller to reject the disturbances and obtain the desired control objective. For designing a controller, the robust sliding mode control theory is used. Furthermore, instead of using a constant switching gain, an adaptive gain tuning criterion is designed using Lyapunov candidate function. To investigate the stability and effectiveness of the developed DOBC, stability analysis and simulation study are presented. Findings The major findings of this paper include the criteria of designing the robust adaptive control parameters and investigating the disturbance rejection when robust adaptive control based DOBC is developed. Practical implications In practice, the flight of quadrotor is affected by different kind of external disturbances, thus leading to the change in dynamics. Hence, it is necessary to design DOBCs based on robust adaptive controllers such that the quadrotor model adapts to the change in dynamics, as well as nullify the effect of disturbances. Originality/value Designing DOBCs based on robust control method is a common practice; however, the robust adaptive control method is rarely developed. This paper contributes in the domain of DOBC based on robust adaptive control methods such that the behavior of controller varies with the change in dynamics occurring due to external disturbances.

This article presents the robust lateral control of an autonomous vehicle in the presence of unknown lateral tire forces, road curvature angle, and parametric uncertainties. The sliding mode control (SMC) with barrier Lyapunov function is implemented to guarantee the system robustness while maintaining the outputs of the system in realistic bounds. Following the model reduction approach, the slow and fast dynamics of the system are separately controlled using the proposed control technique. The efficacy of the proposed control technique is examined by comparing the simulation results with conventional sliding mode control in two-time scales.

Oat (Avena sativa L.) is an important fodder crop of Pakistan, though with low productivity. The present study was conducted to evaluate the performance and genetic diversity of exotic oat germplasm, with emphasis on cereal yellow dwarf virus resistance. A total of 16 exotic line (introduced from Aarhus University Denmark) and 1 local line (provided by The University of Agriculture Peshawar), were grown during the season 2017–18 in Completely Randomized Block Design with three replications across two locations of Khyber Pakhtunkhwa i.e., Peshawar and Kohat. Field testing enabled to collect the data on BYDV incidence, BYDV severity, aphid infestation, plant height, leaf area, panicle length, panicle weight, spikelets per panicle, 1000 grain weight (g), grain yield (g), biological yield (g) and harvest index (%). Prevalence of BYDV was variable across location and over time. Six weeks data showed high disease pressure at Peshawar (85%), with SA-O-01 genotype having AUDPC value of 95%. Almost all the varieties showed less tolerance towards the Aphids attack. Line SA-O-15 showed the maximum 1000 grain weight (42.6 g) at Kohat, while SA-O-4 showed the maximum 1000 grain weight (60.7 g) at Peshawar. Line SA-O-05 (3634 g per (0.9 m2) plot) gave the maximum biological yield at Kohat station, while Line SA-O-01 gave the maximum biological yield (2517 g) at Peshawar. Mean grain yield for Kohat was recorded 0.155 g per (0.9 m2) plot while for Peshawar it was 0.231 g per (0.9 m2) plot. At Kohat line SA-O-10 produced the maximum grain yield (0.229 g), while line SA-O-12 produced the maximum grain yield at Peshawar (0.288 g). Molecular genotyping with a set of 4 RAPD primers revealed substantial diversity among17 oat lines. A total of 23 loci were amplified showing a high level of variations and polymorphism among the proposed lines. The maximum number of loci was recorded for GLA-04 (8), while the minimum number of loci was recorded for GLD-18 (4). Among the tested RAPD primers the maximum gene diversity (0.529) was recorded for loci GLA-03B230, GLA-04B130, GLA-04B300, GLB-05B150 and GLA-18B100 while the minimum (0.118) genetic diversity was recorded for loci GLA-03B600, GLB-05B330 and GLA-18B500. A clear divergence was found between most of the exotic oat lines. The observed genetic diversity in exotic oat germplasm and its resistance towards Barley Yellow Dwarf virus could be useful for oat genetic improvement and broadening the genetic background of cultivated oat germplasm.

Purpose The purpose of this paper is to provide a comprehensive and unified presentation of recent developments in skid-steer wheeled mobile robots (SSWMR) with regard to its control, guidance and navigation for the researchers who wish to study in this field. Design/methodology/approach Most of the contemporary unmanned ground robot’s locomotion is based upon the wheels. For wheeled mobile robots (WMRs), one of the prominent and widely used driving schemes is skid steering. Because of mechanical simplicity and high maneuverability particularly in outdoor applications, SSWMR has an advantage over its counterparts. Different prospects of SSWMR have been discussed including its design, application, locomotion, control, navigation and guidance. The challenges pertaining to SSWMR have been pointed out in detail, which will seek the attention of the readers, who are interested to explore this area. Findings Relying on the recent literature on SSWMR, research gaps are identified that should be analyzed for the development of autonomous skid-steer wheeled robots. Originality/value An attempt to present a comprehensive review of recent advancements in the field of WMRs and providing references to the most intriguing studies.

Purpose This paper aims to devise a robust controller for the non-linear aircraft model using output feedback control topology in the presence of uncertain aerodynamic parameters. Design/methodology/approach Feedback linearization-based state feedback (SFB) controller is considered along with a robust outer loop control which is designed using Lyapunov’s second method. A high-gain observer (HGO) in accordance with the separation principle is used to implement the output feedback (OFB) control scheme. The robustness of the controller and observer is assessed by introducing uncertain aerodynamics coefficients in the dynamic model. The proposed scheme is validated using MATLAB/SIMULINK. Findings The efficacy of the proposed scheme is authenticated with the simulation results which show that HGO-based OFB control achieves the SFB control performance for a small value of the high-gain parameter in the presence of uncertain aerodynamic parameters. Originality/value A HGO for the non-linear model of aircraft with uncertain parameters is a novel contribution which could be further used for the unmanned aerial vehicles autopilot, flight trajectory tracking and path following.

A nonlinear control technique for autonomous control of a tri-rotor unmanned aerial vehicle is presented in this paper. First, a comprehensive mathematical model is developed using the Newton–Euler approach for a tri-rotor, which is found to be highly nonlinear and coupled. Then, the equivalent input affine model is extracted by applying a suitable transformation. Finally, the sliding mode control for trajectory tracking is chosen which is immune to matched external disturbances, parametric uncertainties, and modeling errors. The proposed controller performance has been verified for appropriate inputs under wind disturbances using MATLAB, and the simulation results are presented.

A composite disturbance observer based control (CDOBC) technique for a quadrotor attitude is presented in this paper. The structure of CDOBC consists of a robust equivalent controller constructed using adaptive backstepping sliding mode control (ABSSMC), disturbance observer (DO) and an auxiliary gain to combine controller and NDO. In order to construct the DO, it is assumed that the quadrotor attitude model is effected by unknown bounded disturbances. During the development of DO, a state estimator is also constructed to avoid the situation of lack of states availability. Hence, invoking state estimator in estimation criteria followed by combining it with control scheme through an auxiliary gain yields the desired CDOBC based on ABSSMC. To analyze the dynamic and steady state performance of the developed control scheme, a stability proof followed by the simulation study is presented. In addition, before concluding the effectiveness of developed CDOBC, a comparative analysis is conducted by developing CDOBC based on backstepping and adaptive sliding mode control methods.

The western Himalayan region in Pakistan has been shown to be the center of diversity of Puccinia striiformis; however, little is known about its genetic relations with the eastern part of the Himalayas. We studied the genetic structure of P. striiformis from Nepal (35 isolates) and Bhutan (31 isolates) in comparison with 81 Pakistani samples collected during 2015 and 2016, through microsatellite genotyping. Genetic analyses revealed a recombinant and highly diverse population structure in Pakistan, Bhutan, and Nepal. A high level of genotypic diversity (>0.90) was observed for the three countries of Pakistan (0.96), Bhutan (0.96), and Nepal (0.91) with the detection of 108 distinct multilocus genotypes (MLGs) in the overall population; 59 for Pakistan, 27 for Bhutan, and 26 for Nepal. Mean number of alleles per locus and gene diversity were higher in Nepal (3.19 and 0.458, respectively) than Bhutan (3.12 and 0.458, respectively). A nonsignificant difference between the observed and the expected heterozygosity in all populations further confirmed the recombinant structure. A clear population subdivision between the Himalayan region of Nepal, Bhutan, and Pakistan was evident, as revealed by FST values (ranging between 0.111 to 0.198), discriminant analysis of principal components, and resampling of MLGs. Limited gene flow could be present between Nepal and Bhutan, while the population from Pakistan was clearly distinct, and no divergence was present between two populations from Pakistan (Bajaur and Malakand). The overall high diversity and recombination signature suggested the potential role of recombination in the eastern Himalayan region (Nepal and Bhutan), which needs to be considered during host resistance deployment and in the context of aerial dispersal of the pathogen. Further surveillance should be made in the Himalayan region for disease management in the region and in the context of worldwide invasions. [Formula: see text] Copyright © 2019 The Author(s). This is an open access article distributed under the CC BY 4.0 International license .

This article focuses on the output feedback control of single-link flexible-joint robot manipulators (SFJRMs) with matched disturbances and parametric uncertainties. Formally, four sensing elements are required to design the controller for single-link manipulators. We have designed a robust control technique for the semiglobal stabilization problem of the angular position of the link in the SFJRM system, with the availability of only a position sensing device. The sliding mode control (SMC) based output feedback controller is devised for SFJRM dynamics. The nonlinear model of SFJRM is considered to estimate the unknown states utilizing the high-gain observer (HGO). It is shown that the output under SMC using HGO-based estimated states coincides with that using original states when the gains of HGO are sufficiently high. Finally, the results are presented showing that the designed control technique works well when the SFJRM model is uncertain and matched perturbations are expected.

This paper presents the output feedback control (OFC) of flexible joint single link robotic manipulator via extended high gain observer (EHGO). Conventional high gain observer (HGO) is sensitive to noise and external disturbances. Therefore, EHGO is used to reject the effect of noise and external disturbances on the output of the system. A feedback linearizing control (FLC) is used to track the desired output of the manipulator and EHGO is used for state estimation. A detailed comparative analysis of HGO and EHGO is presented. The controller and observer designed are validated using simulations and the results show that the EHGO along with globally bounded FLC perfectly tracks the system's output in the presence of noise and external disturbances.

Single link flexible joint robotic manipulators are highly nonlinear systems is being widely used in many industries which are most of the time suffer from external disturbances and dynamical parametric uncertainties. In this paper, robust nonlinear output feedback tracking control is designed for single-link flexible joint robotic manipulator system. The designed controller is based on the feedback linearization control technique which is opted owing to its simplicity. A conventional high gain observer is used to estimate the states, but it is sensitive to external disturbances and parametric uncertainties. To handle the aforementioned drawbacks, an extended order high gain observer is used which has the capability to eliminate the effects of external disturbances and parametric uncertainties. A feedback linearizing control technique is used to track the desired output of the robotic manipulator and extended order high gain observer is used for state estimations. The proposed controller and observers are validated using MATLAB simulations. The results show that the extended order high gain observer along with globally bounded feedback linearizing control perfectly tracks the trajectory of the system's output in the presence of external disturbances and parametric uncertainties. This robustness of the extended order high gain observer against external disturbances and parametric uncertainties makes it appropriate for practical implementation to the flexible joint n-link manipulators.

Wheat yellow/stripe rust pathogen

The robust decentralized formation control for the multiagent quadrotor is investigated in this article. The leaderless formation protocol is proposed for a class of square multi-input multi-output nonlinear multiagent systems with an undirected communication graph. The six degree of freedom underactuated nonlinear model of multiagent quadrotor is considered and altered to a four-input four-output model by stabilizing two states internally using sliding mode control (SMC). Later, the sliding mode-based finite-time position, altitude and heading formation is established based on Lyapunov stability theory. The numerical simulations are performed using MATLAB/ Simulink which validate the proposed formation protocol.

Herein, the role of metal-based nanoparticles (NPs) in biomedical analysis and the treatment of critical deceases been highlighted. In the world of nanotechnology, noble elements such as the gold/silver/palladium (Au/Ag/Pd) NPs are the most promising emerging trend to design bioengineering materials that could to be employed as modern diagnostic tools and devices to combat serious diseases. NPs are considered a powerful and advanced chemical tool to diagnose and to cure critical ailments such as HIV, cancer, and other types of infectious illnesses. The treatment of cancer is the most significant application of nanotechnology which is based on premature tumor detection and analysis of cancer cells through Nano-devices. The fascinating characteristic properties of NPs-such as high surface area, high surface Plasmon resonance, multi-functionalization, highly stable nature, and easy processing-make them more prolific for nanotechnology. In this review article, the multifunctional roles of Au/Ag/Pd NPs in the field of medical science, the physicochemical toxicity dependent properties, and the interaction mechanism is highlighted. Due to the cytotoxicity of Ag/Au/Pd NPs, the conclusion and future remarks emphasize the need for further research to minimize the toxicity of NPs in the bio-medicinal field.

Urdu Abstract: دنیا کے تقریبا تمام ممالک اس وقت کورونا وائرس کے زد میں آ چکے ہیں۔کرونا وائرس غیر متوقع طور پر بغیر کسی تخصیص کے تمام لوگوں کو لپیٹ میں لیتےہوئےدنیا میں پھیل گیا ہے۔یہ وبادنیا کے مختلف ممالک میں تیزی سے ایک انسان سے دوسرے انسان تک پھیل رہی ہے اور چین سے لیکر امریکہ تک متاثرہ افراد کی تعداد میں روز بروز اضافہ ہو رہا ہے۔چین نے تو اس وبا پر تقریبا قابو پا لیا ہے لیکن دوسرے ملکوں میں اب یہ تیزی سے پھیل رہا ہے ۔اس لئے 30 جنوری2020ءکو عالمی ادارہ صحت نے عالمی ایمرجنسی کے اعلان بعد کورونا وائرس کو "پینڈیمک" یعنی عالمی وبا قرار دے دیا ہے۔عالمی وبا کی صورتحال اس وقت پیدا ہوتی ہے جب ایک وائرس نیا ہو اور وہ ایک انسان سے دوسرے انسان میں باآسانی منتقل ہو جاتا ہو۔ 2003ء میں سارس وائرس سے 26 ممالک متاثر ہونے کے باوجود ڈبلیو ایچ او نے اسے پینڈیمک قرار نہیں دیا تھا ۔ 2009ء میں سوائن فلو کو پینڈیمک قرار دیے جانے کے بعد غیر ضروری خوف و ہراس دیکھنے میں آیا اور اب وہی صورت حال بنی ہوئی ہے۔ کورونا وائرس 1960ء میں پہلی بار متعارف ہوا۔ عالمی ادارہ صحت (ڈبلیو ایچ او) کے حکام کے مطابق کورونا وائرس کی بہت سی اقسام ہیں اب تک 13 اقسام دریافت ہوچکی ہیں جن میں سے 7 اقسام ایسی ہیں جو جانوروں سے انسانوں میں منتقل ہوسکتی ہیں اورانسانوں کے لیے جان لیوا ثابت ہوتی ہیں۔ کرونا وائرس دودھ دینے والے جانوروں اور پرندوں سے انسانوں میں منتقل ہوتا ہے۔یہ انفلوائزا کی ایک قسم ہے جو ناک کے ذریعے پھیپھڑوں میں منتقل ہوتا ہے۔ عام طور پر کرونا وائرس کا حملہ خطرناک نہیں ہو تا ہے البتہ(SARS-CoV) اور (MERS-CoV) کے وبا کے سلسلے میں یہ انتہائی خطرناک تھا اور اس نے شدید سانس لینے والا سنڈروم کوروناائر (SARS-CoV) اور مشرق وسطیسانس سنڈروم کورونا وائرس (MERS-CoV) نے پچھلی دو دہائیوں میں دس ہزار سے زیادہ مجموعی واقعات پیدا کیے ہیں ، جن میں اموات کی شرح (SARS-CoV)کے لئے 10٪ اور (MERS-CoV) میں 37٪ تھی۔ ان میں سے سب سے نیا دریافت شدہ کرونا وائرس جو بیماری پیدا کرتا ہے وہ کووڈ 19 ہے۔یہ وائرس جسے 2019 ناول کورونا یا این کوو کا نام دیا گیا ہے، کے بارے میں سب سے پہلے عالمی ادارہ صحت نے 31 دسمبر کو بتایا تھا ۔ اس نئے وائرس کے جنیاتی کوڈ سے یہ معلوم ہوا ہے کہ یہ رسپائریٹری سنڈروم (سارس) سے ملتا جتا ہے English Abstract:Coronaviruses (CoV) belong to the genus Coronavirus in the Corona viridae. Recombination rates of CoVs are very high because of constantly developing transcription errors and RNA Dependent RNA Polymerase jumps. With its high mutation rate, CoVs are zoonotic pathogens that are present in humans and various animals with a wide range of clinical features from asymptomatic course to requirement of hospitalization in the intensive care unit; causing infections in respiratory, gastrointestinal, hepatic and neurologic systems At first, an unknown pneumonia case was detected on December 12, 2019. Chinese authorities announced on January 7, 2020, that a new type of Coronavirus (novel Coronavirus, nCoV) was isolated. This virus was named as 2019-nCoV by WHO on January 12 and COVID-19 on 11 February 2020.WHO has declared COVID-19 as a pandemic, as it has been reported worldwide. Symptoms of this pneumonia include dry cough with high fever and difficulty in breathing. It is considered to be the most contagious when people are most symptomatic. In general, there are few or no treatment options for viral diseases. Today there is no vaccine or effective treatment to prevent COVID-19 infection; however there are some precautions to be taken to overcome the pandemic. These steps include; frequently cleaning hands with soap or alcohol-based sanitizer, covering nose and mouth when coughing or sneezing, keeping a distance from persons with cold and flu symptoms, proper cooking of meat and animal products. Islam is a complete code of life and it strongly emphasizes the precautions and cleanliness. In the Holy Quran Allah says, “Allah loves the pure”. Cleanliness is next to Godliness and in Hadith it is declared cleanliness as half of faith. Likewise Islam also stresses precautions to avoid the disease.

Wheat yellow/stripe rust pathogen Puccinia striiformis is highly diverse and recombinant in the north of Pakistan in the Himalayan region. However, little is known about the role of this diversity in disease epidemics in areas where wheat yellow rust is an important disease in both irrigated and rain-fed wheat (i.e., in the plains of Pakistan). We explored the population diversity in P. striiformis during the rust epidemics of 2013 in the major wheat-growing regions of Pakistan (the Himalayan region, central Khyber Pakhtunkhwa [KP], southern KP, central and northern Punjab). Disease severities among commonly grown cultivars ranged from 5% to 100%. Microsatellite genotyping with 16 simple sequence repeat (SSR) markers revealed a high diversity among 266 isolates collected during the season, with the Simpson diversity index (Simpson 1949) ranging from 0.870 (Himalayan) to 0.955 (southern KP). The recombination signature was stronger in the Himalayan population and central KP compared with wheat-growing regions of Punjab and southern KP. The overall diversity was higher in Pakistan relative to the clonal populations present in Europe, Australia, and the Americas. Analyses of population subdivision revealed no clear evidence of spatial structure for samples from Pakistan, with a maximum fixation index (FST) value of only 0.10. The lack of clear population subdivision could be attributed to migration of pathogen. In turn, the high diversity of P. striiformis in Pakistan represents a potential threat to wheat production in the region and worldwide, as a possible source to found clonal populations in diverse wheat-growing areas.

Robust output tracking of uncertain systems requires nonlinear controllers due to approximate parameters and exogenous disturbances. However, the design of nonlinear control is often more complex for practical implementation. This article presents a simple nonlinear robust control for the ball and beam system based on integral sliding mode control. In addition to this a low pass filter is designed to estimate the disturbance and alleviate the chattering effect. A comparison of the proposed technique with the conventional sliding mode control is carried out using MATLAB/ SIMULINK. The simulation results validate the efficacy and improved performance of the proposed technique in the presence of exogenous disturbances and parametric uncertainties.

This paper explores alternative design approaches for sampled data extended order observer. After a brief and necessary review of continuous time Extended order High gain observer (EHGO), two alternative sampled data control approaches are being examined, i.e. approximate discrete equivalent system model and emulation. Extended order observer (EHGO) is designed using both aforementioned techniques. Performance of sampled data extended order observer is analysed by using it in a close loop for above mention approaches.

Naval applications need refined regulation, to meet modern era standards, which eventually leads to the requirement of more accurate mathematical modeling of all subsystems. All naval autonomous systems are equipped with electromechanical actuators, which are often controlled for linear operating range and nonlinearities which may lead to chaotic behavior, are ignored. Additionally, the necessary use of observers for the linear model limits the level of autonomy. In this paper, a typical solenoid actuator is studied with the inclusion of third-order nonlinear dynamic properties. A nonlinear output feedback control is designed for tracking the position of the plunger in solenoid actuator. High gain observer (HGO) is realized to estimate the unknown states. The proposed topology for solenoid actuator uses feedback linearization along with the HGO to achieve the performance of state feedback control which solidifies the effectiveness of HGO. The results are obtained using MATLAB/ SIMULINK.

The western Himalayan region in Pakistan has been shown to be the center of diversity of

Main focus of this research is on stabilization of two degree of freedom platform. Previously, most of the work done on this specific problem is in continuous domain but here we designed a controller using sampled data control technique. Controller is designed for approximate equivalent system model using sliding mode controller in discrete domain for the stabilization of this platform. System is approximated using Euler method technique. In the next stage this work is extended to hardware implementation of the problem. The hardware is designed such that, platform is stabilized by rotation of motors in Azimuthal direction and Elevation direction. Arduino, inertial measurement unit and motor driver are used with the motors to implement the control designed in discrete domain.